【摘要】：仿人雙足機器人具有靈活的移動機構和很強的移動能力,特別在崎嶇不平的地面及復雜的環(huán)境中雙足機器人的移動能力相比輪式和履帶式機器人具有明顯的優(yōu)勢。但是,目前雙足機器人的足部結構多為平足和點足結構,在機器人的步行過程中足部無法始終提供可靠的支撐效果,在地面突起物的影響下常發(fā)生足部支撐點區(qū)域的變化和支撐點的滑移,對雙足機器人的行走穩(wěn)定性產(chǎn)生負面的影響。因此本課題旨在設計一種能夠降低不平整地面對雙足機器人行走穩(wěn)定性影響的足部系統(tǒng),并針對這種足部結構,設計雙足行走步態(tài)。首先,總結了平足結構及點足結構的問題,借鑒了目前具有適應能力的足部設計方案,提出了基于被動排氣原理的氣動變剛度足的結構方案,使足部上的變剛度單元能夠通過被動觸發(fā)實現(xiàn)高低剛度切換的功能,使足部既能為雙足步行提供有效支撐又能包容地面突起物�；谝陨献儎偠确桨高M行了變剛度單元的布置方案研究,對足部結構進行了設計和校核,集成壓力傳感器,完成結構設計。其次,考慮氣電混合驅(qū)動的雙足機器人的實際機械結構,考慮具有兩個耦合自由度的膝關節(jié)的結構特點,建立了雙足機器人的運動學模型。考慮氣動變剛度足的彈性勢能,考慮足部柔性對機器人姿態(tài)的影響,建立了雙足機器人系統(tǒng)的動力學模型。而后,考慮足部觸地及離地時姿態(tài)保持水平的要求,利用多項式插值的方法規(guī)劃了適用于氣動變剛度足的雙足步行步態(tài)。求解了步行過程中各關節(jié)轉(zhuǎn)角的運動軌跡,結合氣動肌肉的氣壓-位移特性以及關節(jié)的結構特點,求解了肌肉氣壓變化軌跡。最后,搭建剛度實驗平臺并分析了變剛度單元的剛度特性;對壓力傳感器進行了標定。搭建足部適應能力實驗裝置,驗證足部適應地面突起物的功能。設計并搭建了雙足行走實驗平臺,針對機器人的硬件接口搭建了雙足機器人的控制系統(tǒng),針對電機和氣動肌肉的特性設計了關節(jié)控制器。進行了平整地面和不平整地面上的行走實驗,驗證了步態(tài)規(guī)劃算法的正確性,對比了普通平足和氣動變剛度足的步行姿態(tài)及ZMP軌跡,驗證了氣動變剛度足部系統(tǒng)的功能以及其對雙足機器人步行穩(wěn)定性的改善。
[Abstract]:The humanoid biped robot has flexible moving mechanism and strong moving ability. Especially in the rugged ground and complex environment, the biped robot has obvious advantages over wheeled and crawler robots. However, at present, the foot structure of biped robot is mostly flat foot and point foot structure, and the foot can not always provide reliable support effect during the walking process of the robot. Under the influence of the ground protrusions, the change of the supporting point area and the slip of the support point often occur, which has a negative effect on the walking stability of the biped robot. Therefore, the purpose of this paper is to design a foot system which can reduce the effect of uneven action on the walking stability of biped robot, and to design the biped gait for this kind of foot structure. Firstly, the problems of flat foot structure and point foot structure are summarized, and the design scheme of pneumatic variable stiffness foot based on passive exhaust principle is put forward. The variable stiffness element on the foot can realize the function of high and low stiffness switching by passively triggering, so that the foot can not only provide effective support for biped walking but also contain ground protrusions. Based on the above variable stiffness scheme, the layout scheme of the variable stiffness element is studied. The foot structure is designed and checked, and the pressure sensor is integrated to complete the structure design. Secondly, considering the actual mechanical structure of biped robot driven by gas and electricity and the structural characteristics of knee joint with two coupling degrees of freedom, the kinematics model of biped robot is established. Considering the potential energy of aerodynamic variable stiffness foot and the effect of foot flexibility on robot attitude, the dynamic model of biped robot system is established. Then, considering the requirement of maintaining the level of foot attitude when touching the ground and leaving the ground, the biped walking gait suitable for pneumatic variable stiffness foot is planned by polynomial interpolation method. The motion trajectory of the joint angle during walking is solved. Combined with the pneumatic muscle pressure displacement characteristics and the structural characteristics of the joint, the track of the muscle pressure change is solved. Finally, the stiffness experimental platform is built and the stiffness characteristics of the variable stiffness element are analyzed, and the pressure sensor is calibrated. Build the foot adaptability experimental device to verify the foot adaptation to the ground protruding function. The biped walking experimental platform is designed and built. The control system of biped robot is built according to the hardware interface of the robot and the joint controller is designed according to the characteristics of motor and pneumatic muscle. The walking experiments on flat and uneven ground are carried out to verify the correctness of gait planning algorithm. The walking attitude and ZMP trajectory of common flat foot and pneumatic variable stiffness foot are compared. The function of pneumatic variable stiffness foot system and its improvement on walking stability of biped robot are verified.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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